二阶领导跟随多智能体系统事件触发一致性

Event-triggered Consensus of Second-order Leader-follower Multi-agent System

针对一类时滞二阶多智能体系统领导跟随模型,研究了在无向拓扑结构下一类二阶多智能体系统领导跟随一致性控制问题.考虑系统内部非线性因素,在给定事件触发策略的条件下,设计了与时滞相关的控制器,通过矩阵不等式等分析技术,利用lyapunov-krasovskii稳定性定理得到了该系统实现一致性的充分条件.最后,在仿真阶段验证了控制器设计的合理性.

The problem of leader-following consensus control for a class of second-order multi-agent system in undirected topology is studied.A delay-related controller is designed for the leader-following model of a class of second-order multi-agent system with delay,considering the internal nonlinear factors of the system and under the condition of given event triggering strategy.Through matrix inequality and other analysis techniques,sufficient conditions for the consistency of the system are obtained by using lyapunov-KrasovskII stability theorem.Finally,the rationality of controller design is verified in the simulation stage.